uint8 control
uint8 gc_l
uint8 gc_r

float64 lhip_pos
float64 rhip_pos
float64 aea
float64 pea
float64 l_leg_fl
float64 p_af
float64 d_af
float64 p_lf
float64 d_lf
float64 l_fl
float64 l_leg_st
float64 p_as
float64 d_as
float64 p_ls
float64 d_ls
float64 l_st

